Puncture needle control system, puncture needle control method, device, computer equipment

Abstract

This application relates to a puncture needle control system, puncture needle control method, apparatus, computer equipment, storage medium, and computer program product. The system includes: a controller, used to generate at least one control command carrying a running speed and send the control command to an actuator; and an actuator, on which a puncture needle is mounted, used to receive the control command sent by the controller, and upon receiving each control command, to control the puncture needle to move from its current position, at a preset angle, and according to the running speed within the target object until the puncture needle reaches a designated position and stops. This achieves precise control of the puncture needle.

Description

Technical Field

[0001] This application relates to the field of medical device control technology, and in particular to a puncture needle control system, puncture needle control method, device, computer equipment, storage medium, and computer program product. Background Technology

[0002] With the development of instrument control technology, before operators can perform biopsies on abnormal areas, it is necessary to control the puncture needle used for the biopsy to reach the abnormal area. However, controlling the puncture needle often requires manual positioning by the operator, increasing the risk of puncture failure.

[0003] Traditional techniques often employ devices with needle positioning capabilities to reduce the risk of needle insertion failure. However, when performing punctures using such devices, the movement of the needle due to respiratory movements cannot be avoided, making it impossible to precisely control the needle to reach the designated position, thus hindering accurate control of the needle. Summary of the Invention

[0004] Therefore, it is necessary to provide a puncture needle control system, puncture needle control method, device, computer equipment, storage medium, and computer program product that can achieve precise control of the puncture needle in response to the above-mentioned technical problems.

[0005] On one hand, this application provides a puncture needle control system. The system includes:

[0006] A controller is configured to generate at least one control command and send the control command to the actuator; wherein each generated control command carries an operating speed, and the operating speed is determined based on at least one of the respiratory volume of the target object collected within a preset time period and the pressure value detected by the actuator;

[0007] An actuator is provided with a puncture needle. The actuator is used to receive control commands sent by the controller, and after receiving each control command, controls the puncture needle to move from the current position to the target object at a preset angle and according to the running speed carried in the control command, until the puncture needle reaches the designated position and stops.

[0008] On the other hand, this application also provides a puncture control method, the method comprising:

[0009] Acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period;

[0010] Based on at least one of the breathing volume and pressure values, determine the current operating speed, and generate the current control command based on the current operating speed;

[0011] The control command is sent to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command.

[0012] If the puncture needle does not reach the designated position in the current movement, return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continue execution until the puncture needle reaches the designated position.

[0013] On the other hand, this application also provides a puncture needle control device, the device comprising:

[0014] The acquisition module is used to acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period;

[0015] The determination module is used to determine the current running speed based on at least one of the breathing volume and pressure values, and to generate the current control command based on the current running speed;

[0016] The sending module is used to send the control command to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command.

[0017] The iteration module is used to return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period when the position to which the puncture needle moves in the current time has not reached the specified position, and continue to execute until the puncture needle reaches the specified position.

[0018] On the other hand, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0019] Acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period;

[0020] Based on at least one of the breathing volume and pressure values, determine the current operating speed, and generate the current control command based on the current operating speed;

[0021] The control command is sent to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command.

[0022] If the puncture needle does not reach the designated position in the current movement, return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continue execution until the puncture needle reaches the designated position.

[0023] On the other hand, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0024] The acquisition module is used to acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period;

[0025] The determination module is used to determine the current running speed based on at least one of the breathing volume and pressure values, and to generate the current control command based on the current running speed;

[0026] The sending module is used to send the control command to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command.

[0027] The iteration module is used to return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period when the position to which the puncture needle moves in the current time has not reached the specified position, and continue to execute until the puncture needle reaches the specified position.

[0028] On the other hand, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0029] Acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period;

[0030] Based on at least one of the breathing volume and pressure values, determine the current operating speed, and generate the current control command based on the current operating speed;

[0031] The control command is sent to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command.

[0032] If the puncture needle does not reach the designated position in the current movement, return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continue execution until the puncture needle reaches the designated position.

[0033] The aforementioned puncture needle control system, puncture needle control method, device, computer equipment, storage medium, and computer program products. The controller, by real-time acquisition of the target object's respiratory volume and the pressure value detected by the actuator at the same moment, can generate an operating speed that matches the current respiratory movement. Simultaneously, the controller sends control commands corresponding to the operating speed to the actuator, enabling the actuator to accurately and promptly control the movement of the puncture needle, avoiding motion errors caused by excessively fast or slow respiratory rates, and ensuring precise control of the puncture needle. Attached Figure Description

[0034] Figure 1a This is a diagram illustrating the application environment of puncture needle control in one embodiment;

[0035] Figure 1b This is a schematic diagram of the puncture needle control system structure in one embodiment;

[0036] Figure 2 This is an application environment diagram of the puncture needle control system in another embodiment;

[0037] Figure 3 Here is the structure of the actuator in one embodiment;

[0038] Figure 4 This is a schematic diagram of an actuator controlling the movement of a puncture needle in one embodiment;

[0039] Figure 5 This is a schematic diagram of the drive mechanism in one embodiment;

[0040] Figure 6 This is a schematic diagram illustrating the application of a respiratory monitor in one embodiment;

[0041] Figure 7 This is a schematic diagram illustrating the communication during the puncture process in one embodiment;

[0042] Figure 8 This is a schematic diagram of the puncture needle control system structure in another embodiment;

[0043] Figure 9 This is a schematic diagram of the movement process of the puncture needle in one embodiment;

[0044] Figure 10 This is a schematic diagram of the breathing curve during breath-holding in one embodiment;

[0045] Figure 11 This is a schematic diagram of the respiratory curve during normal breathing in one embodiment;

[0046] Figure 12 This is a schematic diagram illustrating the determination of the puncture timing in one embodiment;

[0047] Figure 13This is a schematic diagram illustrating the determination of the puncture needle travel speed in one embodiment;

[0048] Figure 14 This is a flowchart illustrating a puncture needle control method in one embodiment;

[0049] Figure 15 This is a flowchart illustrating the puncture needle control method in another embodiment;

[0050] Figure 16 This is a flowchart illustrating the puncture needle control method in another embodiment;

[0051] Figure 17 This is a structural block diagram of the puncture needle control device in one embodiment;

[0052] Figure 18 This is a structural block diagram of a computer device in one embodiment. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0054] The puncture needle control system provided in this application embodiment can be applied to, for example... Figure 1aIn the application environment shown, the controller 102 communicates with the actuator 104 and the drive mechanism 106. A data storage system stores the data that the controller 102 needs to process. The data storage system can be integrated into the controller 102 or placed in the cloud or on another network server. The controller 102 generates a control command and sends it to the actuator 104. Each generated control command carries a running speed, which is determined based on at least one of the respiratory volume of the target object collected within a preset time period and the pressure value detected by the actuator. The actuator 104 receives the control command sent by the controller 102 and, upon receiving the command, controls the puncture needle to move from its current position, at the preset angle, and according to the running speed carried in the control command within the target object until the puncture needle reaches a designated position and stops. The controller 102 can be deployed on a separate computer device or together with the actuator 104 on a robotic device. When the controller 102 is deployed on a separate computer device, the computer device can be a terminal or a server, with no specific limitation. The terminals can be, but are not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart TVs, smart in-vehicle systems, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Servers can be implemented using independent servers or server clusters composed of multiple servers.

[0055] In one embodiment, such as Figure 1b As shown, a puncture needle control system is provided, comprising a controller and an actuator. The actuator includes a pressure sensor, a motor driver, and a motor. The controller generates at least one control command and sends it to the actuator; each generated control command carries an operating speed, which is determined based on at least one of the respiratory volume of the target object collected within a preset time period and the pressure value detected by the actuator.

[0056] The controller consists of computer equipment and its control software, which performs calculations and controls the actuators, and can also accept information input by the operator.

[0057] Specifically, the controller acquires the respiratory volume of the target object and the pressure value acquired by the actuator within a preset time period, and determines the running speed of the puncture needle based on at least one of the respiratory volume and pressure values. Based on the running speed, the controller generates a control command for the current session and sends the control command to the actuator.

[0058] The actuator has a structure with a pressure acquisition device, which can be a pressure sensor, pressure transmitter, etc., and is not specifically limited.

[0059] The actuator includes a pressure acquisition device, a motor for determining the movement of the puncture needle, and a needle hole. The pressure acquisition device can be a pressure sensor, pressure transmitter, etc., and is not specifically limited. The pressure acquisition device is used to collect the pressure applied to it by the operator.

[0060] The puncture needle is used for biopsy procedures, in specific scenarios such as... Figure 2 As shown, it is necessary to perform a puncture on the target site of the target object. For example, the target site can be the lung, kidney, liver, etc., and there is no specific limitation. The puncture operation can be percutaneous lung puncture.

[0061] More specifically, for example, the controller acquires the respiratory volume of the target object during a given preset time period and the pressure value collected by the actuator. Based on the respiratory volume, it performs a respiratory determination to obtain a first determination result. If the first determination result indicates a pass, it reflects that the respiratory volume meets the preset respiratory conditions; if the first determination result indicates a fail, it reflects that the respiratory volume does not meet the preset respiratory conditions. Based on the pressure value, the controller performs a pressure determination to obtain a second determination result. If the second determination result indicates a pass, it reflects that the pressure value meets the preset pressure conditions; if the second determination result indicates a fail, it reflects that the pressure value does not meet the preset pressure conditions. If either the first or second determination result indicates a fail, the controller determines the operating speed for that period as a first speed, which is very small and can be considered zero. If both the first and second determination results indicate a pass, the controller determines the operating speed corresponding to the pressure value for that period.

[0062] An actuator is provided with a puncture needle. The actuator is used to receive control commands sent by the controller, and after receiving each control command, controls the puncture needle to move from the current position to the target object at a preset angle and according to the running speed carried in the control command, until the puncture needle reaches the designated position and stops.

[0063] Specifically, the actuator receives the control command sent by the controller for the current operation and, based on the control command carrying the operating speed for the current operation, controls the puncture needle to move from the current position, at a preset angle and according to the operating speed for the current operation, until it reaches the position reached for the current operation after a preset time period. The controller determines whether the position reached for the current operation has reached the designated position. If not, it returns to the step of the controller obtaining the respiratory volume of the target object collected during the current operation within the preset time period and the pressure value collected by the actuator for the current operation, and continues execution until the puncture needle reaches the designated position and stops.

[0064] The current position when the puncture needle first moves is the preset initial position of the puncture path when the puncture needle first moves.

[0065] It should be noted that the actuator determines the pressure value applied to the pressure acquisition device by the operator at that time and sends the pressure value to the controller so that the controller can determine the operating speed at that time based on the pressure value.

[0066] For example, such as Figure 3 The diagram illustrates the structure of an actuator, which includes a pressure sensor, a slide, a motor, a needle pusher, a fixing knob, and a needle insertion hole. The actuator controls the movement of the puncture needle, specifically as follows... Figure 4 As shown, the puncture needle is installed into the needle hole, and the fixing knob is tightened to prevent the puncture needle from moving outside the puncture path. The operator presses the pressure sensor (i.e., the corresponding pressure sensor) to... Figure 4 In this process, pressure F is applied to the pressure sensor to cause the puncture needle to begin moving along the puncture path.

[0067] The aforementioned puncture needle control system uses a controller that collects real-time data on the target subject's respiratory volume and the pressure value acting on the actuator at the same moment. This data allows the controller to generate an operating speed that matches the current respiratory movement. Simultaneously, the controller sends control commands corresponding to the operating speed to the actuator, enabling the actuator to accurately and promptly control the puncture needle's movement. This avoids motion errors caused by excessively fast or slow respiratory rates, ensuring precise control of the puncture needle.

[0068] In one embodiment, the puncture needle control system further includes a drive mechanism connected to an actuator for driving the actuator to move and moving the puncture needle to a preset initial position, which is the current position of the puncture needle when it first moves.

[0069] The drive mechanism can be viewed as a structure with a robotic arm, which can be a robot with a robotic arm, or a robotic arm itself, without limitation. This drive mechanism involves multi-axis motion, including parallel or series mechanical structures that can adjust the needle insertion position and angle.

[0070] Specifically, the drive mechanism controls the actuator carrying the puncture needle to move to a preset initial position, which is the starting position of the puncture needle on the puncture path, and the ending position of the puncture needle on the puncture path is a designated position. The puncture path is a straight path.

[0071] like Figure 5 As shown, the drive mechanism has five degrees of freedom. Starting from the fixed end, the first and second degrees of freedom are translation, the third degree of freedom is rotation, and the fourth and fifth degrees of freedom are used to adjust the posture of the puncture needle tip. Among them, the first three degrees of freedom are used to adjust the position of the puncture needle tip, which can ensure that the puncture needle reaches any point in space.

[0072] In this embodiment, the puncture needle is moved to a preset initial position on the puncture path by the drive mechanism, thereby adjusting the insertion position and angle of the puncture needle and ensuring that the puncture needle installed on the actuator can be accurately positioned on the puncture path.

[0073] In one embodiment, the puncture needle system further includes a respiratory monitor for collecting the respiratory volume of the target subject at an initial moment within a preset time period. The respiratory monitor includes a microprocessor, an analog-to-digital converter chip, and a pressure acquisition device.

[0074] The pressure acquisition device can be a pressure sensor.

[0075] Specifically, the respiratory monitor acquires the target object's respiratory volume at the initial moment within the preset time period and sends the respiratory volume to the controller.

[0076] Among them, the respiratory monitor achieves respiratory monitoring by collecting the fluctuations of the target object's sampling site during the breathing process.

[0077] For example, such as Figure 6 As shown, the respiratory monitor can be installed at the sampling site of the target object using a fixed structure. A pressure sensor in the respiratory monitor acquires the fluctuation signal of the sampling site, and an analog-to-digital converter chip in the monitor converts this fluctuation signal into a digital signal, which is then sent to the microprocessor in the monitor. The microprocessor in the monitor sends the digital signal to the controller via a communication protocol recognizable by the controller. The fixed structure can be a strap.

[0078] Specifically, during the process of the controller acquiring the current respiratory volume and pressure value, the communication between the controller, the respiratory monitor, and the actuator is as follows: Figure 7 As shown.

[0079] It should be noted that the current pressure value and current respiratory volume are collected at the same time. Specifically, at the beginning of the preset time period, the respiratory monitor collects the respiratory volume for that period, and the actuator collects the pressure value for that period. The respiratory monitor sends the respiratory volume to the controller, and simultaneously, the actuator sends the pressure value to the controller. The controller can determine the operating speed for that period based on at least one of the respiratory volume and pressure value corresponding to the initial moment. This operating speed is the operating speed for each moment within the preset time period. The controller sends the control command carrying the operating speed to the actuator's motor driver, so that the actuator's motor controls the puncture needle to move at the operating speed for that period.

[0080] In this implementation, the respiratory volume at the initial moment within a preset time period is collected by a respiratory monitor, which can reflect the intensity of respiratory movements in a timely and accurate manner within the preset time period. This provides an effective reference for determining the current operating speed, promptly avoiding movement errors caused by intense respiratory movements, and ensuring precise control of the puncture needle.

[0081] In one embodiment, the structure of the puncture needle control system is as follows: Figure 8 As shown, the puncture needle control system includes a controller, a respiration monitor, a drive mechanism, and an actuator. The movement of the puncture needle is realized based on this control system, and a schematic diagram of the movement process is shown below. Figure 9 As shown, the details are as follows:

[0082] The operator acquires a CT (Computed Tomography) scan image and determines the puncture path corresponding to the scan image. A drive mechanism controls an actuator carrying the puncture needle to move to a preset initial position, which is the starting position of the puncture needle along the puncture path, and the ending position of the puncture needle along the puncture path is a designated position. The puncture path is a straight line. The actuator determines the pressure value (i.e., compression signal) applied by the operator to the pressure acquisition device for that session. At the initial moment of the preset time period, the respiratory monitor acquires the respiratory volume (i.e., respiratory gating signal), and the actuator acquires the pressure value for that session. The respiratory monitor sends the respiratory volume to the controller, and simultaneously, the actuator sends the pressure value to the controller. The controller can determine the operating speed based on at least one of the respiratory volume and pressure value corresponding to the initial moment, thereby determining the insertion timing of the puncture needle. This insertion timing characterizes the moment the puncture needle is inserted. The controller sends a control command carrying the current operating speed to the actuator's motor driver. The actuator receives the control command from the controller and, based on the control command carrying the current operating speed, controls the puncture needle to move from its current position, at a preset angle, and at the current operating speed within the target object until it reaches the current position after a preset time period. The controller determines whether the current position has reached the designated position. If not, it returns to the step of obtaining the respiratory volume of the target object collected within the preset time period and the pressure value collected by the actuator, and continues execution until the puncture needle reaches the designated position.

[0083] In this embodiment, the respiratory volume and pressure value at the start time within a preset time period are acquired through a respiratory monitor and actuator. This accurately reflects the intensity of respiratory movement and the detected pressure value at the same moment, thereby accurately determining the running speed corresponding to the start time. In this way, controlling the puncture needle to move at the running speed within the preset time period not only avoids errors caused by respiratory movement but also allows movement based on the actual set pressure value and the running speed corresponding to the actual movement requirements. That is, while ensuring precise control of the puncture needle, the ease of control is greatly improved.

[0084] In one embodiment, the controller is further configured to determine a pressure threshold, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, determine a breathing threshold range corresponding to the target object. The controller is also configured to, if the breathing volume of the target object is within the breathing threshold range within the preset time period, determine an operating speed based on the pressure value, and generate a control command for the current operation based on the operating speed.

[0085] The pressure threshold can be zero or a small pressure value; there is no specific limitation.

[0086] Specifically, the controller acquires the pressure value sent by the actuator within a preset time period and determines a pressure threshold. The controller compares the current pressure value with the pressure threshold; if the current pressure value is greater than the pressure threshold, the controller determines the breathing threshold range corresponding to the target object. The controller acquires the respiratory volume sent by the respiratory monitor within a preset time period and compares the current respiratory volume with the breathing threshold range. If the current respiratory volume is within the breathing threshold range, the controller determines the operating speed corresponding to the current pressure value. Based on the current operating speed, the controller generates a control command for the current operation and sends the control command to the actuator.

[0087] It should be noted that when the pressure value is less than the pressure threshold, it means that the pressure value is negligible, and the operating speed generated by this pressure value is approximately zero. Therefore, the puncture needle can be considered not to be moving within the preset time period. When the respiratory volume is within the respiratory threshold range, it means that the movement generated by the respiratory motion will not affect the movement of the puncture needle. Therefore, the operating speed can be determined based on the pressure value greater than the pressure threshold.

[0088] In this embodiment, when the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, it ensures that an effective movement speed can be generated based on the pressure value. Therefore, within this preset time period, when the respiratory volume is within the respiratory threshold range, the displacement resulting from the respiratory volume will not cause errors in the movement of the puncture needle. This ensures that the puncture needle can move effectively at this operating speed, thus greatly ensuring the effectiveness of the puncture needle movement.

[0089] In one embodiment, the controller is further configured to acquire the breathing curve of the target object during breath-holding if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, and determine the breathing baseline value and total breathing volume corresponding to the breathing curve. The controller is further configured to use the product of the total breathing volume and a preset ratio as the breathing difference, and determine the breathing threshold range based on the breathing difference and the breathing baseline value.

[0090] The respiratory curve is obtained by the operator performing a medical scan on the target subject before the biopsy procedure. Specifically, the target subject is ensured to be in a breath-holding state during the medical scan to obtain the respiratory curve. The respiratory curve is as follows: Figure 10As shown, the respiratory curve includes two states: normal breathing and breath-holding. The total respiratory volume is determined based on the maximum and minimum respiratory volumes under normal breathing conditions. The respiratory baseline is determined based on the respiratory volume under breath-holding conditions.

[0091] Specifically, during the biopsy procedure, if the pressure value corresponding to the actuator exceeds a predetermined pressure threshold within a preset time period, the controller directly acquires the respiratory curve. The controller uses the difference between the maximum and minimum respiratory volume under normal breathing conditions as the total respiratory volume. Based on the respiratory volume at each moment during breath-holding, the controller determines a respiratory baseline value. The controller uses the product of this total respiratory volume and a preset ratio as the respiratory difference. The controller uses the difference between the respiratory baseline value and the respiratory difference as a first threshold, and the sum of the respiratory baseline value and the respiratory difference as a second threshold, and determines the respiratory threshold range based on the first and second thresholds.

[0092] For example, the controller calculates the average respiratory volume at various times during breath-holding to determine a respiratory baseline value A. Alternatively, it can determine the minimum and maximum breath-holding respiratory volumes during breath-holding, and use the average between these two volumes as the respiratory baseline value A; the specific method is not limited. The controller uses 10% of the total respiratory volume as the respiratory difference value B and defines the respiratory threshold range as (AB, A+B).

[0093] In this embodiment, if the pressure value corresponding to the actuator exceeds the pressure threshold within a preset time period, the total respiratory volume corresponding to normal breathing is determined based on the respiratory curve obtained during breath-holding before the biopsy procedure. This determines the fluctuation range of respiratory volume during the actual biopsy procedure. Simultaneously, a baseline respiratory value corresponding to the breath-holding moment is determined to identify the baseline respiratory volume that does not produce respiratory deviation. Thus, by using this baseline respiratory value and the total respiratory volume, respiratory deviation during the biopsy procedure can be determined, ensuring the effectiveness of needle control.

[0094] In one embodiment, prior to the biopsy, the operator acquires the target subject's respiratory curve during breath-holding. During the biopsy, the controller acquires the pressure value sent by the actuator within a preset time period and determines a pressure threshold. The controller compares the current pressure value with the pressure threshold; if the current pressure value exceeds the pressure threshold, the controller, based on the respiratory curve, uses the difference between the maximum and minimum respiratory volumes under normal breathing conditions as the total respiratory volume. The controller determines a respiratory baseline value based on the respiratory volumes at various times during breath-holding. The controller uses the product of the total respiratory volume and a preset ratio as the respiratory difference. The controller uses the difference between the respiratory baseline value and the respiratory difference as a first threshold, and the sum of the respiratory baseline value and the respiratory difference as a second threshold, determining a respiratory threshold range based on the first and second thresholds. The controller acquires the current respiratory volume sent by the respiratory monitor within a preset time period and compares the current respiratory volume with the respiratory threshold range. If the current respiratory volume is within the respiratory threshold range, the controller determines the operating speed corresponding to the current pressure value. The controller generates control commands for the current operation based on the current operating speed and sends the control commands to the actuators.

[0095] More specifically, during a biopsy, the respiratory curve of the target subject under normal breathing conditions is as follows: Figure 11 As shown, according to this Figure 11 It can be seen that the respiratory volume is within the respiratory threshold range at each time period, meaning that the respiratory volume corresponding to the multiple feasible puncture time periods in the figure is within the respiratory threshold range. Furthermore, as... Figure 12 As shown, the first axis represents multiple operational puncture time periods, while the second axis represents the time period of pressure applied to the actuator, i.e., the pressure value at each moment within the pressure signal time period is greater than the pressure threshold. Clearly, the puncture action time is the intersection of multiple operational puncture time periods and the pressure signal time period. In other words, the movement of the puncture needle must simultaneously satisfy the conditions that the respiratory volume is within the respiratory threshold range and the pressure value is greater than the pressure threshold.

[0096] In this embodiment, when the pressure value corresponding to the actuator is greater than the pressure threshold, it ensures that an effective movement speed can be generated based on the pressure value. Therefore, within the preset time period, when the respiratory volume is within the respiratory threshold range, it reflects that the displacement generated by respiratory movement will not cause errors in the movement of the puncture needle. Thus, by jointly determining the effective movement of the puncture needle through both pressure and respiratory volume dimensions, the safe and accurate movement of the puncture needle is ensured.

[0097] In one embodiment, the controller is further configured to determine that the operating speed is zero when the pressure value corresponding to the actuator is less than or equal to the pressure threshold within a preset time period, or when the breathing volume of the target object is not within the breathing threshold range within the preset time period.

[0098] Specifically, when the controller determines that the pressure value corresponding to the actuator is less than or equal to the pressure threshold within the preset time period, or that the respiratory volume of the target object is not within the range of the respiratory threshold within the preset time period, the operating speed of that operation is directly set to zero. That is, the puncture needle remains at the current position within the preset time period until the operating speed of the next preset time period is not zero.

[0099] For example, the preset time period for this session is 10ms, which is the time period from time t3 to time t5. The preset time period for the previous session was also 10ms, which was the time period from time t0 to time t2. At the start time t3 within the preset time period for this session, the respiratory volume 1 and pressure value 1 are obtained. If the pressure value 1 is less than or equal to the pressure threshold, or the respiratory volume 1 is less than or equal to the respiratory volume, the running speed for the preset time period for this session is determined to be 0. That is, the puncture needle remains at the position it moved to within the previous preset time period from time t3 to time t5.

[0100] In this embodiment, if the pressure value is less than or equal to the pressure threshold, or the respiratory volume is not within the respiratory threshold range, the puncture needle is prohibited from moving within the preset time period to avoid motion error.

[0101] In one embodiment, the controller is further configured to, if the target object's breathing volume is within the breathing threshold range during the preset time period, use the product of the corresponding pressure value and pressure parameter as the preset speed. If the preset speed is less than the speed threshold, the preset speed is used as the operating speed for that cycle.

[0102] Specifically, if the target object's breathing volume is within the breathing threshold during the preset time period, the controller multiplies the corresponding pressure value and pressure parameter to obtain the preset speed. If the preset speed is less than the speed threshold, the controller uses the preset speed as the operating speed for that period and sends the operating speed to the actuator.

[0103] For example, such as Figure 13As shown, the controller acquires the pressure value 'a' collected by the pressure sensor deployed on the actuator. Based on the product of the pressure value and the pressure parameter, the controller determines the operating speed for that cycle. This operating speed is sent to the motor driver in the actuator, causing the actuator's motor to control the puncture needle to run at the operating speed for that cycle. Here, the coefficient 'k' is the pressure parameter.

[0104] In this embodiment, under the condition that the current respiratory volume does not cause errors in the movement of the puncture needle and the current pressure value is greater than the threshold, the running speed can be matched with the current respiratory movement based on the current pressure value, which greatly improves the accuracy of the running speed.

[0105] In one embodiment, the controller is further configured to use the speed threshold as the operating speed for the current operation if the preset speed is greater than or equal to the speed threshold.

[0106] It should be noted that when the preset speed is greater than or equal to the speed threshold, using the speed threshold as the operating speed for that run can prevent damage to the actuator caused by moving at the preset speed.

[0107] In this embodiment, when the preset speed is greater than or equal to the speed threshold, in order to avoid damage to the actuator due to moving at the preset speed, the speed threshold is set to the running speed of the current operation, thus ensuring the efficiency of the actuator in controlling the puncture needle.

[0108] In one embodiment, the actuator is further configured to control the puncture needle to move from its current position at the preset angle and at the running speed carried in the control command within the target object until it stops moving after a preset time period, and to determine whether the position of the puncture needle after the preset time period has reached the designated position.

[0109] Specifically, the actuator controls the puncture needle to move from its current position, at a preset angle and according to the movement speed specified in the current control command, within the target object until it stops moving after a preset time. It then determines whether the puncture needle has reached the designated position after the preset time period. If not, the position of the puncture needle after the preset time period is used as the current position for the next iteration, and the process returns to the steps of acquiring the respiratory volume of the target object and the pressure values ​​detected by the actuator within the preset time period, continuing until the puncture needle reaches the designated position.

[0110] For example, such as Figure 14As shown, the controller determines whether the previous preset time period has been completed (e.g., whether the 10ms timer has expired). If not, it continues the previous movement. If yes, the controller determines the current position, and the actuator determines the pressure value applied to the pressure acquisition device by the operator, and determines whether the current pressure value is greater than the pressure threshold (i.e., whether the pressure at the current moment in the diagram is greater than the minimum pressure value). If not, the controller sets the current running speed to zero, i.e., the actuator controls the motor to stop, and waits for the next preset time period. If yes, the controller receives the current respiratory volume collected by the respiratory monitor and determines whether the current respiratory volume is within the threshold range. If not, the controller sets the current running speed to zero, i.e., the actuator controls the motor to stop, and waits for the next preset time period. If yes, the controller uses the product of the corresponding pressure value and the pressure parameter (i.e., coefficient k) as the preset speed. The controller determines whether the preset speed is greater than the speed threshold (Vmax). If not, the controller uses the speed threshold as the running speed for the current operation. If so, the controller uses the preset speed as the running speed for the current operation, so that the actuator motor controls the puncture needle to move at the running speed for the current operation.

[0111] In this embodiment, the drive mechanism moves the puncture needle to a preset initial position on the puncture path, thereby adjusting the insertion position and angle of the puncture needle and ensuring that the puncture needle installed on the actuator can be accurately positioned on the puncture path. The controller, by collecting real-time data on the target object's respiratory volume and the pressure value acting on the actuator at the same moment, can generate an operating speed that matches the current respiratory movement. Simultaneously, the controller sends control commands corresponding to the operating speed to the actuator, enabling the actuator to accurately and promptly control the movement of the puncture needle, avoiding motion errors caused by excessively fast or slow respiratory rates and ensuring precise control of the puncture needle.

[0112] To facilitate a clearer understanding of the technical solution of this application, a more detailed embodiment is provided for description. The process of this embodiment is as follows: Figure 15 As shown, the specific operation is as follows:

[0113] Step 1: Before the biopsy, the controller acquires CT (Computed Tomography) scan images of the target object while it is holding its breath, as well as the respiratory curve corresponding to the breath-holding state obtained from a respiratory monitor attached to the acquisition site on the target object. The controller performs image registration based on the scan images to match the image space with the space where the drive mechanism is located. The operator determines the puncture path based on the matched image (i.e., the puncture path planning in the corresponding diagram).

[0114] Step 2: The controller uses the difference between the maximum and minimum respiratory volume under normal breathing conditions as the total respiratory volume. Based on the respiratory volume at each moment during breath-holding, the controller determines a respiratory baseline value. The controller uses the product of this total respiratory volume and a preset ratio as the respiratory difference. The controller uses the difference between the respiratory baseline value and this respiratory difference as a first threshold, and the sum of the respiratory baseline value and the respiratory difference as a second threshold. Based on the first and second thresholds, the controller determines the respiratory threshold range (i.e., the respiratory gating threshold set in the diagram). The drive mechanism drives the actuator to move, thus moving the puncture needle to a preset initial position on the puncture path.

[0115] Step 3: The controller generates at least one control command and sends it to the actuator (which can be a semi-automatic puncture actuator). Each generated control command carries an operating speed, which is determined based on at least one of the respiratory volume of the target object collected within a preset time period and the pressure value detected by the actuator. The actuator receives the control command sent by the controller and, upon receiving each control command, controls the puncture needle to move from its current position, at the preset angle, and according to the operating speed carried in the control command, within the target object until the puncture needle reaches the designated position and stops. This constitutes the semi-automatic puncture process, with the specific steps as follows:

[0116] The controller determines whether the previous preset time period has been completed (e.g., whether the 10ms timer has expired). If not, it continues the previous movement. If yes, the controller determines the current position, and the actuator determines the pressure value applied to the pressure acquisition device by the operator, and determines whether the current pressure value is greater than the pressure threshold (i.e., whether the pressure at the current moment in the diagram is greater than the minimum pressure value). If not, the controller sets the current running speed to zero, i.e., the actuator controls the motor to stop, and waits for the next preset time period. If yes, the controller receives the current respiratory volume collected by the respiratory monitor and determines whether the current respiratory volume is within the threshold range. If not, the controller sets the current running speed to zero, i.e., the actuator controls the motor to stop, and waits for the next preset time period. If yes, the controller uses the product of the corresponding pressure value and the pressure parameter (i.e., coefficient k) as the preset speed. The controller determines whether the preset speed is greater than the speed threshold (Vmax). If not, the controller uses the speed threshold as the running speed for the current iteration. If so, the controller uses the preset speed as the running speed for the current iteration, causing the actuator motor to control the puncture needle to move at the current running speed until it stops moving after a preset time. The controller then determines whether the puncture needle has reached the designated position after the preset time period. If not, the position of the puncture needle after the preset time period is used as the current position for the next iteration, and the process returns to the steps of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, continuing until the puncture needle reaches the designated position.

[0117] Step 4: The operator acquires an updated image obtained from the CT scan of the target object and determines whether the puncture needle has reached the designated position based on the updated image, thus confirming the puncture result. If the puncture needle has reached the designated position, sampling is performed.

[0118] In this embodiment, the drive mechanism moves the puncture needle to a preset initial position on the puncture path, adjusting the needle insertion position and angle to ensure precise positioning of the needle on the actuator, achieving accurate needle navigation. The controller, by real-time acquisition of the target object's respiratory volume and the pressure value acting on the actuator, generates an operating speed matching the current respiratory movement. Simultaneously, the controller sends control commands corresponding to the operating speed to the actuator, enabling accurate and timely control of the puncture needle's movement, avoiding motion errors caused by excessively fast or slow respiratory rates, and ensuring precise control of the puncture needle. Furthermore, this puncture needle control system greatly improves operator convenience, thereby increasing the efficiency of biopsy procedures.

[0119] In one embodiment, such as Figure 16As shown, a method for controlling a puncture needle is provided. In this embodiment, the method includes the following steps:

[0120] Step S1602: Obtain the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period.

[0121] Step S1604: Based on at least one of the breathing volume and pressure value, determine the current running speed, and generate the current control command based on the current running speed.

[0122] Step S1606: The control command is sent to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command.

[0123] Step S1608: If the puncture needle does not reach the designated position in this movement, return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continue to execute until the puncture needle reaches the designated position.

[0124] For details on the specific implementation of the puncture needle control method, please refer to the aforementioned embodiment describing the puncture needle control system. In the above-described puncture needle control method, by collecting the respiratory volume and pressure values ​​at the same moment, a running speed matching the current respiratory movement can be generated. This greatly avoids errors caused by the respiratory volume affecting the movement of the puncture needle, thus ensuring precise control of the puncture needle.

[0125] In one embodiment, determining the operating speed based on at least one of the respiratory volume and pressure value, and generating a control command based on the operating speed, includes: determining a pressure threshold, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, determining a respiratory threshold range corresponding to the target object; if the respiratory volume of the target object is within the respiratory threshold range within the preset time period, determining the operating speed based on the pressure value; and generating a control command based on the operating speed.

[0126] In one embodiment, determining the pressure threshold includes: if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, acquiring the breathing curve of the target object during breath-holding, and determining the breathing baseline value and total breathing volume corresponding to the breathing curve; using the product of the total breathing volume and a preset ratio as the breathing difference, and determining the breathing threshold range based on the breathing difference and the breathing baseline value.

[0127] In one embodiment, the method further includes: determining the running speed to be zero if the pressure value corresponding to the actuator is less than or equal to the pressure threshold within a preset time period, or if the breathing volume of the target object is not within the breathing threshold range within the preset time period.

[0128] In one embodiment, determining the operating speed based on the pressure value when the target object's respiratory volume is within the respiratory threshold range during the preset time period includes: if the target object's respiratory volume is within the respiratory threshold range during the preset time period, using the product of the corresponding pressure value and pressure parameter as the preset speed; if the preset speed is less than a speed threshold, using the preset speed as the operating speed for that operation.

[0129] In one embodiment, the method further includes: if the preset speed is greater than or equal to a speed threshold, using the speed threshold as the running speed for that run.

[0130] In one embodiment, the method further includes: controlling the puncture needle to move within the target object from its current position at the preset angle and at the running speed carried in the control instruction, until the movement stops after a preset time period, and determining whether the position of the puncture needle after the preset time period has reached the designated position.

[0131] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0132] Based on the same inventive concept, this application also provides a puncture needle control device for implementing the puncture needle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more puncture needle control device embodiments provided below can be found in the limitations of the puncture needle control method described above, and will not be repeated here.

[0133] In one embodiment, such as Figure 17As shown, a puncture needle control device is provided, including: an acquisition module 1702, a determination module 1704, a sending module 1706, and an iteration module 1708, wherein:

[0134] The acquisition module 1702 is used to acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period.

[0135] The determination module 1704 is used to determine the current operating speed based on at least one of the breathing volume and pressure value, and to generate the current control command based on the current operating speed.

[0136] The sending module 1706 is used to send the control command to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command.

[0137] The iteration module 1708 is used to return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period when the position to which the puncture needle moves in the current time has not reached the specified position, and continue to execute until the puncture needle reaches the specified position.

[0138] In one embodiment, the determining module 1704 is configured to determine a pressure threshold, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, determine a breathing threshold range corresponding to the target object. If the breathing volume of the target object is within the breathing threshold range within the preset time period, the operating speed is determined based on the pressure value; and based on the operating speed, a control command for the current operation is generated.

[0139] In one embodiment, the determining module 1704 is used to acquire the breathing curve of the target object when holding its breath, and determine the breathing reference value and total breathing volume corresponding to the breathing curve when the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period; the product of the total breathing volume and a preset ratio is used as the breathing difference, and the breathing threshold range is determined based on the breathing difference and the breathing reference value.

[0140] In one embodiment, the determining module 1704 is used to determine that the running speed is zero when the pressure value corresponding to the actuator is less than or equal to the pressure threshold within a preset time period, or when the breathing volume of the target object is not within the breathing threshold range within the preset time period.

[0141] In one embodiment, the determining module 1704 is configured to, when the respiratory volume of the target object is within the respiratory threshold range during the preset time period, use the product of the corresponding pressure value and pressure parameter as the preset speed. If the preset speed is less than the speed threshold, the preset speed is used as the operating speed for that operation.

[0142] In one embodiment, the determining module 1704 is used to take the speed threshold as the running speed for the current operation when the preset speed is greater than or equal to the speed threshold.

[0143] In one embodiment, the iteration module 1708 is used to control the puncture needle to move in the target object from the current position at the preset angle and according to the running speed carried in the control instruction until it stops moving after a preset time period, and to determine whether the position of the puncture needle after running for the preset time period has reached the designated position.

[0144] Each module in the aforementioned puncture needle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0145] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 18 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores puncture needle control data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network.

[0146] Those skilled in the art will understand that Figure 18 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0147] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor, when executing the computer program, performs the following steps: acquiring the respiratory volume of a target object and the pressure value detected by an actuator within a preset time period; determining the current running speed based on at least one of the respiratory volume and pressure value, and generating a control command based on the current running speed; sending the control command to the actuator to instruct the actuator to control the puncture needle to move within the target object from its current position at a preset angle according to the running speed carried in the control command; if the puncture needle has not reached the designated position in the current movement, returning to the step of acquiring the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continuing execution until the puncture needle reaches the designated position and stops.

[0148] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining a pressure threshold, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, determining a breathing threshold range corresponding to the target object; if the breathing volume of the target object is within the breathing threshold range within the preset time period, determining an operating speed based on the pressure value; and generating a control command for the current operation based on the operating speed.

[0149] In one embodiment, when the processor executes the computer program, it further performs the following steps: if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, it acquires the breathing curve of the target object when holding its breath, and determines the breathing baseline value and total breathing volume corresponding to the breathing curve; the product of the total breathing volume and a preset ratio is used as the breathing difference, and the breathing threshold range is determined based on the breathing difference and the breathing baseline value.

[0150] In one embodiment, when the processor executes the computer program, it further performs the following steps: if the pressure value corresponding to the actuator is less than or equal to the pressure threshold within a preset time period, or if the breathing volume of the target object is not within the breathing threshold range within the preset time period, the running speed for that run is determined to be zero.

[0151] In one embodiment, when the processor executes the computer program, it further implements the following steps: if the respiratory volume of the target object is within the respiratory threshold range during the preset time period, the product of the corresponding pressure value and pressure parameter is used as the preset speed. If the preset speed is less than the speed threshold, the preset speed is used as the running speed for that cycle.

[0152] In one embodiment, when the processor executes a computer program, it further performs the following steps: if the preset speed is greater than or equal to a speed threshold, the speed threshold is used as the running speed for that run.

[0153] In one embodiment, when the processor executes the computer program, it further implements the following steps: controlling the puncture needle to move in the target object from the current position at the preset angle and according to the running speed carried in the control instruction, until the movement stops after a preset time period, and determining whether the position of the puncture needle after the preset time period has reached the designated position.

[0154] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program performs the following steps: acquiring the respiratory volume of a target object and the pressure value detected by an actuator within a preset time period; determining the current running speed based on at least one of the respiratory volume and pressure value, and generating a control command based on the current running speed; sending the control command to the actuator to instruct the actuator to control the puncture needle to move within the target object from its current position at a preset angle and according to the running speed carried in the control command; if the puncture needle has not reached the designated position in the current movement, returning to the step of acquiring the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continuing execution until the puncture needle reaches the designated position.

[0155] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a pressure threshold, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, determining a breathing threshold range corresponding to the target object; if the breathing volume of the target object is within the breathing threshold range within the preset time period, determining an operating speed based on the pressure value; and generating a control command for the current operation based on the operating speed.

[0156] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, acquire the breathing curve of the target object when holding its breath, and determine the breathing baseline value and total breathing volume corresponding to the breathing curve; use the product of the total breathing volume and a preset ratio as the breathing difference, and determine the breathing threshold range based on the breathing difference and the breathing baseline value.

[0157] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if the pressure value corresponding to the actuator is less than or equal to the pressure threshold within a preset time period, or if the breathing volume of the target object is not within the breathing threshold range within the preset time period, the running speed for that run is determined to be zero.

[0158] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the respiratory volume of the target object is within the respiratory threshold range during the preset time period, the product of the corresponding pressure value and pressure parameter is used as the preset speed. If the preset speed is less than the speed threshold, the preset speed is used as the running speed for that cycle.

[0159] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if the preset speed is greater than or equal to a speed threshold, the speed threshold is used as the running speed for the current operation.

[0160] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: controlling the puncture needle to move in the target object from the current position at the preset angle and according to the running speed carried in the control instruction, until the movement stops after a preset time period, and determining whether the position of the puncture needle after the preset time period has reached the designated position.

[0161] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: acquiring respiratory volume of a target object and pressure values ​​detected by an actuator within a preset time period; determining the current running speed based on at least one of the respiratory volume and pressure values, and generating a control command based on the current running speed; sending the control command to the actuator to instruct the actuator to control the puncture needle to move within the target object from its current position at a preset angle and according to the running speed carried in the control command; if the puncture needle has not reached the designated position in the current movement, returning to the step of acquiring the respiratory volume of the target object and pressure values ​​detected by the actuator within the preset time period, and continuing execution until the puncture needle reaches the designated position and stops.

[0162] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a pressure threshold, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, determining a breathing threshold range corresponding to the target object; if the breathing volume of the target object is within the breathing threshold range within the preset time period, determining an operating speed based on the pressure value; and generating a control command for the current operation based on the operating speed.

[0163] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, acquire the breathing curve of the target object when holding its breath, and determine the breathing baseline value and total breathing volume corresponding to the breathing curve; use the product of the total breathing volume and a preset ratio as the breathing difference, and determine the breathing threshold range based on the breathing difference and the breathing baseline value.

[0164] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if the pressure value corresponding to the actuator is less than or equal to the pressure threshold within a preset time period, or if the breathing volume of the target object is not within the breathing threshold range within the preset time period, the running speed for that run is determined to be zero.

[0165] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the respiratory volume of the target object is within the respiratory threshold range during the preset time period, the product of the corresponding pressure value and pressure parameter is used as the preset speed. If the preset speed is less than the speed threshold, the preset speed is used as the running speed for that cycle.

[0166] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if the preset speed is greater than or equal to a speed threshold, the speed threshold is used as the running speed for the current operation.

[0167] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: controlling the puncture needle to move in the target object from the current position at the preset angle and according to the running speed carried in the control instruction, until the movement stops after a preset time period, and determining whether the position of the puncture needle after the preset time period has reached the designated position.

[0168] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0169] Those skilled in the art will understand that all or part of the processes in the systems described in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes described in the embodiments of the above systems. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0170] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0171] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A puncture needle control system, characterized in that, The system includes: A controller is configured to generate at least one control command and send the control command to the actuator; wherein each generated control command carries an operating speed, and the operating speed is determined based on at least one of the respiratory volume of the target object collected within a preset time period and the pressure value detected by the actuator; the controller is further configured to determine a pressure threshold, and if the pressure value corresponding to the actuator is greater than the pressure threshold within the preset time period, determine a respiratory threshold range corresponding to the target object; if the respiratory volume is within the respiratory threshold range, determine the operating speed based on the pressure value; wherein if the respiratory volume is within the respiratory threshold range, the movement generated by the respiratory motion will not affect the movement of the puncture needle; An actuator is provided with a puncture needle. The actuator is used to receive control commands sent by the controller, and after receiving each control command, controls the puncture needle to move from the current position to the target object at a preset angle and according to the running speed carried in the control command, until the puncture needle reaches the designated position and stops.

2. The system according to claim 1, characterized in that, The system also includes a drive mechanism connected to the actuator for driving the actuator to move and moving the puncture needle to a preset initial position, which is the current position when the puncture needle moves for the first time.

3. The system according to claim 1, characterized in that, It also includes a respiratory monitor, which is used to collect the respiratory volume of the target object at the initial moment within a preset time period; the respiratory monitor achieves respiratory monitoring by collecting the fluctuations of the sampling site of the target object during the breathing process.

4. The system according to claim 1, characterized in that, The controller is also used to acquire the breathing curve of the target object when holding its breath, and determine the breathing baseline value and total breathing volume corresponding to the breathing curve when the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period. The controller is further configured to use the product of the total breathing volume and the preset ratio as the breathing difference, and to determine the breathing threshold range based on the breathing difference and the breathing reference value.

5. The system according to claim 1, characterized in that, The controller is further configured to determine that the operating speed is zero when the pressure value corresponding to the actuator is less than or equal to the pressure threshold within a preset time period, or when the breathing volume of the target object is not within the breathing threshold range within the preset time period.

6. The system according to claim 1, characterized in that, The controller is also used to, when the respiratory volume of the target object is within the respiratory threshold range during the preset time period, take the product of the corresponding pressure value and pressure parameter as the preset speed. If the preset speed is less than the speed threshold, the preset speed shall be used as the running speed for that run.

7. The system according to claim 6, characterized in that, The controller is further configured to use the speed threshold as the operating speed for the current operation when the preset speed is greater than or equal to the speed threshold.

8. The system according to claim 1, characterized in that, The actuator is also used to control the puncture needle to move from its current position, at the preset angle and according to the running speed carried in the control command, in the target object until it stops moving after a preset time period, and to determine whether the position of the puncture needle after running for the preset time period has reached the designated position.

9. A puncture needle control system, characterized in that, The system includes a controller and an actuator, and a memory storing a computer program. When the controller executes the computer program, it performs the following steps: Acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period; Based on at least one of the respiratory volume and pressure value, the operating speed for the current operation is determined, and a control command for the current operation is generated based on the operating speed for the current operation; a pressure threshold is determined, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, a respiratory threshold range corresponding to the target object is determined; if the respiratory volume is within the respiratory threshold range, the operating speed is determined based on the pressure value; wherein, if the respiratory volume is within the respiratory threshold range, the movement generated by the respiratory movement will not affect the movement of the puncture needle; The control command is sent to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command. If the puncture needle does not reach the designated position in the current movement, return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continue execution until the puncture needle reaches the designated position.

10. A puncture needle control device, characterized in that, The device includes: The acquisition module is used to acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period; The determination module is used to determine the current operating speed based on at least one of the respiratory volume and pressure value, and generate the current control command based on the current operating speed; determine a pressure threshold, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, determine the respiratory threshold range corresponding to the target object; if the respiratory volume is within the respiratory threshold range, determine the operating speed according to the pressure value; wherein, if the respiratory volume is within the respiratory threshold range, the movement generated by the respiratory movement will not affect the movement of the puncture needle; The sending module is used to send the control command to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command. The iteration module is used to return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period when the position to which the puncture needle moves in the current time has not reached the specified position, and continue to execute until the puncture needle reaches the specified position.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it performs the following steps: Acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period; Based on at least one of the breathing volume and pressure values, determine the current operating speed, and generate the current control command based on the current operating speed; A pressure threshold is determined, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, a breathing threshold range corresponding to the target object is determined; if the breathing volume is within the breathing threshold range, the operating speed is determined based on the pressure value; wherein, if the breathing volume is within the breathing threshold range, the movement generated by the breathing motion will not affect the movement of the puncture needle. The control command is sent to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command. If the puncture needle does not reach the designated position in the current movement, return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continue execution until the puncture needle reaches the designated position.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the following steps: Acquire the respiratory volume of the target object and the pressure value detected by the actuator within a preset time period; Based on at least one of the breathing volume and pressure values, determine the current operating speed, and generate the current control command based on the current operating speed; A pressure threshold is determined, and if the pressure value corresponding to the actuator is greater than the pressure threshold within a preset time period, a breathing threshold range corresponding to the target object is determined; if the breathing volume is within the breathing threshold range, the operating speed is determined based on the pressure value; wherein, if the breathing volume is within the breathing threshold range, the movement generated by the breathing motion will not affect the movement of the puncture needle. The control command is sent to the actuator to instruct the actuator to control the puncture needle to move in the target object from the current position at a preset angle and according to the running speed carried in the control command. If the puncture needle does not reach the designated position in the current movement, return to the step of obtaining the respiratory volume of the target object and the pressure value detected by the actuator within the preset time period, and continue execution until the puncture needle reaches the designated position.

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